From f49897a4195df5fbd00e2c16461bcebb36ce8f72 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Sat, 11 Feb 2012 02:26:53 +0000 Subject: Clamp ODE character velocity. Make ODE falling character 54m/s by default. If velocity reaches 256 in any vector then bad things happen with ODE, so we now clamp this value. In addition, a falling avatar is clamped by default at 54 m/s, which is the same as a falling skydiver. This also appears to be the value used on the linden lab grid. This should resolve http://opensimulator.org/mantis/view.php?id=5882 --- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 43 +++++++++++++++++++++++- OpenSim/Region/Physics/OdePlugin/OdeScene.cs | 11 ++++++ 2 files changed, 53 insertions(+), 1 deletion(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 7c1c046..6d1f41d 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs @@ -156,6 +156,22 @@ namespace OpenSim.Region.Physics.OdePlugin internal UUID m_uuid { get; private set; } internal bool bad = false; + /// + /// ODE Avatar. + /// + /// + /// + /// + /// + /// + /// + /// + /// + /// + /// Only used right now to return information to LSL. Not actually used to set mass in ODE! + /// + /// + /// public OdeCharacter( String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, @@ -786,6 +802,10 @@ namespace OpenSim.Region.Physics.OdePlugin Vector3 vec = Vector3.Zero; d.Vector3 vel = d.BodyGetLinearVel(Body); +// m_log.DebugFormat( +// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}", +// vel.X, vel.Y, vel.Z, _target_velocity, Name); + float movementdivisor = 1f; if (!m_alwaysRun) @@ -884,18 +904,20 @@ namespace OpenSim.Region.Physics.OdePlugin if (flying) { + // This also acts as anti-gravity so that we hover when flying rather than fall. vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); } } if (flying) { + // Anti-gravity so that we hover when flying rather than fall. vec.Z += ((-1 * _parent_scene.gravityz) * m_mass); //Added for auto fly height. Kitto Flora //d.Vector3 pos = d.BodyGetPosition(Body); float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset; - + if (_position.Z < target_altitude) { vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f; @@ -921,6 +943,25 @@ namespace OpenSim.Region.Physics.OdePlugin return; } + + d.Vector3 newVel = d.BodyGetLinearVel(Body); + if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256) + { +// m_log.DebugFormat( +// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name); + + newVel.X = Util.Clamp(newVel.X, -255f, 255f); + newVel.Y = Util.Clamp(newVel.Y, -255f, 255f); + + if (!flying) + newVel.Z + = Util.Clamp( + newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity); + else + newVel.Z = Util.Clamp(newVel.Z, -255f, 255f); + + d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); + } } /// diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs index 4530c09..7d1401c 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs @@ -144,6 +144,8 @@ namespace OpenSim.Region.Physics.OdePlugin public float gravityy = 0f; public float gravityz = -9.8f; + public float AvatarTerminalVelocity { get; set; } + private float contactsurfacelayer = 0.001f; private int worldHashspaceLow = -4; @@ -459,6 +461,15 @@ namespace OpenSim.Region.Physics.OdePlugin gravityy = physicsconfig.GetFloat("world_gravityy", 0f); gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); + float avatarTerminalVelocity = physicsconfig.GetFloat("avatar_terminal_velocity", 9f); + AvatarTerminalVelocity = Util.Clamp(avatarTerminalVelocity, 0, 255f); + if (AvatarTerminalVelocity != avatarTerminalVelocity) + { + m_log.WarnFormat( + "[ODE SCENE]: avatar_terminal_velocity of {0} is invalid. Clamping to {1}", + avatarTerminalVelocity, AvatarTerminalVelocity); + } + worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4); worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128); -- cgit v1.1